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stm32samples/F3:F303/MLX90640-allsky/mlxproc.c

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/*
* This file is part of the ir-allsky project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <string.h>
#include "i2c.h"
#include "mlxproc.h"
#include "mlx90640_regs.h"
//#define DEBUGPROC
#ifdef DEBUGPROC
#include "usb_dev.h"
#include "strfunc.h"
#define D(x) U(x)
#define DN(x) UN(x)
#define DB(x) USB_putbute(x)
#else
#define D(x)
#define DN(x)
#define DB(x)
#endif
extern volatile uint32_t Tms;
// current state and state before `stop` called
static mlx_state_t MLX_state = MLX_RELAX, MLX_oldstate = MLX_RELAX;
static int errctr = 0; // errors counter - cleared by mlx_continue
static uint32_t Tlastimage[N_SESORS] = {0};
// subpages and configs of all sensors
// 8320 bytes:
static int16_t imdata[N_SESORS][REG_IMAGEDATA_LEN];
// 8340 bytes:
static uint16_t confdata[N_SESORS][MLX_DMA_MAXLEN];
static uint8_t sens_addresses[N_SESORS] = {0x10<<1, 0x11<<1, 0x12<<1, 0x13<<1, 0x14<<1}; // addresses of all sensors (if 0 - omit this one)
static uint8_t sensaddr[N_SESORS];
// get compile-time size: (gcc shows it in error message)
//char (*__kaboom)[sizeof( confdata )] = 1;
// return `sensaddr`
uint8_t *mlx_activeids(){return sensaddr;}
static int sensno = -1;
// get current state
mlx_state_t mlx_state(){ return MLX_state; }
// set address
int mlx_setaddr(int n, uint8_t addr){
if(n < 0 || n > N_SESORS) return 0;
if(addr > 0x7f) return 0;
sens_addresses[n] = addr << 1;
Tlastimage[n] = Tms; // refresh counter for autoreset I2C in case of error
return 1;
}
// pause state machine and stop
void mlx_pause(){
MLX_oldstate = MLX_state;
MLX_state = MLX_RELAX;
}
// TODO: add here power management
void mlx_stop(){
MLX_oldstate = MLX_NOTINIT;
MLX_state = MLX_RELAX;
}
// continue processing
// TODO: add here power management
void mlx_continue(){
errctr = 0;
switch(MLX_oldstate){
case MLX_WAITSUBPAGE:
case MLX_READSUBPAGE:
MLX_state = MLX_WAITSUBPAGE;
break;
//case MLX_NOTINIT:
//case MLX_WAITPARAMS:
default:
i2c_setup(i2c_curspeed); // restart I2C (what if there was errors?)
memcpy(sensaddr, sens_addresses, sizeof(sens_addresses));
MLX_state = MLX_NOTINIT;
sensno = -1;
break;
}
}
static int nextsensno(int s){
if(mlx_nactive() == 0){
mlx_stop();
return -1;
}
int next = s + 1;
for(; next < N_SESORS; ++next) if(sensaddr[next]) break;
if(next == N_SESORS) return nextsensno(-1); // roll to start
D(i2str(next)); DB('('); D(i2str(s)); DB(')'); DN(" - new sensor number");
return next;
}
// count active sensors
int mlx_nactive(){
int N = 0;
for(int i = 0; i < N_SESORS; ++i) if(sensaddr[i]) ++N;
return N;
}
/**
* @brief mlx_process - main state machine
* 1. Process conf data for each sensor
* 2. Start image processing and store subpage1 for each sensor
*/
void mlx_process(){
static uint32_t TT = 0;
if(Tms == TT) return;
TT = Tms;
// static uint32_t Tlast = 0;
static int subpage = 0;
if(MLX_state == MLX_RELAX) return;
if(sensno == -1){ // init
sensno = nextsensno(-1);
if(-1 == sensno) return; // no sensors found
}
switch(MLX_state){
case MLX_NOTINIT: // start reading parameters
if(i2c_read_reg16(sensaddr[sensno], REG_CALIDATA, MLX_DMA_MAXLEN, 1)){
D(i2str(sensno)); DN(" wait conf");
errctr = 0;
MLX_state = MLX_WAITPARAMS;
}else ++errctr;
break;
case MLX_WAITPARAMS: // check DMA ends and calculate parameters
if(i2c_dma_haderr()){ MLX_state = MLX_NOTINIT; DN("DMA err");}
else{
uint16_t len, *buf = i2c_dma_getbuf(&len);
if(!buf) break;
DN("READ");
if(len != MLX_DMA_MAXLEN){ MLX_state = MLX_NOTINIT; break; }
memcpy(confdata[sensno], buf, MLX_DMA_MAXLEN * sizeof(uint16_t));
D(i2str(sensno)); DN(" got conf");
int next = nextsensno(sensno);
errctr = 0;
if(next <= sensno) MLX_state = MLX_WAITSUBPAGE; // all configuration read
else MLX_state = MLX_NOTINIT; // read next
sensno = next;
return;
}
break;
case MLX_WAITSUBPAGE: // wait for subpage 1 ready
{uint16_t *got = i2c_read_reg16(sensaddr[sensno], REG_STATUS, 1, 0);
if(got && *got & REG_STATUS_NEWDATA){
if(subpage == (*got & REG_STATUS_SPNO)){
errctr = 0;
if(subpage == 0){ // omit zero subpage for each sensor
DN("omit 0 -> next sens");
int next = nextsensno(sensno);
if(next <= sensno){ // all scanned - now wait for page 1
subpage = 1;
DN("Wait for 1");
}
sensno = next;
break;
}
D(i2str(sensno)); DN(" - ask for image");
if(i2c_read_reg16(sensaddr[sensno], REG_IMAGEDATA, REG_IMAGEDATA_LEN, 1)){
errctr = 0;
MLX_state = MLX_READSUBPAGE;
// D("spstart"); DB('0'+subpage); DB('='); DN(u2str(Tms - Tlast));
}else ++errctr;
}
}else ++errctr;
}
break;
case MLX_READSUBPAGE: // wait ends of DMA read and calculate subpage
if(i2c_dma_haderr()) MLX_state = MLX_WAITSUBPAGE;
else{
uint16_t len, *buf = i2c_dma_getbuf(&len);
if(buf){
// D("spread="); DN(u2str(Tms - Tlast));
if(len != REG_IMAGEDATA_LEN){
++errctr;
}else{ // fine! we could check next sensor
errctr = 0;
memcpy(imdata[sensno], buf, REG_IMAGEDATA_LEN * sizeof(int16_t));
// D("spgot="); DN(u2str(Tms - Tlast));
Tlastimage[sensno] = Tms;
// D("imgot="); DN(u2str(Tms - Tlast)); Tlast = Tms;
int next = nextsensno(sensno);
if(next <= sensno){
subpage = 0; // roll to start - omit page 0 for all
DN("All got -> start from 0");
}
sensno = next;
}
MLX_state = MLX_WAITSUBPAGE;
}
}
break;
default:
return;
}
//if(MLX_state != MLX_RELAX && Tms - Tlastimage[sensno] > MLX_I2CERR_TMOUT){ i2c_setup(i2c_curspeed); Tlastimage[sensno] = Tms; }
if(errctr > MLX_MAX_ERRORS){
errctr = 0;
sensaddr[sensno] = 0; // throw out this value
sensno = nextsensno(sensno);
}
}
// recalculate parameters
MLX90640_params *mlx_getparams(int n){
MLX90640_params *p = get_parameters(confdata[n]);
return p;
}
uint32_t mlx_lastimT(int n){ return Tlastimage[n]; }
fp_t *mlx_getimage(int n){
if(n < 0 || n >= N_SESORS || !sensaddr[n]) return NULL;
MLX90640_params *p = get_parameters(confdata[n]);
if(!p) return NULL;
fp_t *ready_image = process_image(imdata[n]);
if(!ready_image) return NULL;
return ready_image;
}
// this function can be run only when state machine is paused/stopped!
// WARNING: `MLX_address` is shifted, `addr` - NOT!
int mlx_sethwaddr(uint8_t MLX_address, uint8_t addr){
if(addr > 0x7f) return 0;
uint16_t data[2], *ptr;
if(!(ptr = i2c_read_reg16(MLX_address, REG_MLXADDR, 1, 0))) return 0;
//D("Old address: "); DN(uhex2str(*ptr));
data[0] = REG_MLXADDR; data[1] = 0;
uint16_t oldreg = *ptr;
if(!i2c_write(MLX_address, data, 2)) return 0; // clear address
uint32_t Told = Tms;
while(Tms - Told < 10);
ptr = i2c_read_reg16(MLX_address, REG_MLXADDR, 1, 0);
// should be zero
if(!ptr){
data[0] = REG_MLXADDR; data[1] = oldreg;
i2c_write(MLX_address, data, 2); // leave old address
return 0;
}
data[0] = REG_MLXADDR; // i2c_write swaps bytes, so we need init data again
data[1] = (oldreg & ~REG_MLXADDR_MASK) | addr;
//D("Write address: "); D(uhex2str(data[0])); D(", "); DN(uhex2str(data[1]));
if(!i2c_write(MLX_address, data, 2)) return 0;
while(Tms - Told < 10);
if(!(ptr = i2c_read_reg16(MLX_address, REG_MLXADDR, 1, 0))) return 0;
//D("Got address: "); DN(uhex2str(*ptr));
if((*ptr & REG_MLXADDR_MASK) != addr) return 0;
return 1;
}
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